/*

  ================================================================================

	Program		: Asuro 014, Build 003, Frontswitches test by system led.c
	Release date	: 2005-02-05
	Author		: Henk van Winkoop

	Build	: 001, 2005-02-05, original release
	Build	: 002, 2005-02-05, comment added, superfluous code removed
	Build	: 003, 2005-02-07, comment added, superfluous code removed

  ================================================================================

*/

//--------------------------------------------------------------------------------
// INCLUDES
//--------------------------------------------------------------------------------
#include "hvwdefines.h"
//--------------------------------------------------------------------------------
//	DEFINES
//--------------------------------------------------------------------------------
//Remember, due to a misconception of the original Asuro switch conversion formula...
//... bits and switches are mirrored...
//... for example bit 0 (hex 0x01) corresponds to switch K6 at Asuro front right...
//...(and NOT to switch K1, Asuro front left, as was initially ment to be)
#define SWITCH_K1	0x20
#define SWITCH_K2	0x10
#define SWITCH_K3	0x08
#define SWITCH_K4	0x04
#define SWITCH_K5	0x02
#define SWITCH_K6	0x01
//--------------------------------------------------------------------------------
//	DELAY MILLI SECONDS
//--------------------------------------------------------------------------------
void vDelayMilliSeconds(int iDelMilSec){
	//var
	unsigned int i,j;
	//handle all milli seconds
	for(i=0;i<iDelMilSec;i++){
		//delay 1 millisecond
		for(j=0;j<28750;j++){
		}
	}
}
//================================================================================
//	INIT ALL PORTS
//================================================================================
void vInitAllPorts(void){

  //disable all output pull-up resistors
  SFRX(SFIOR,PUD_H);

  //+-------------------------------------------------------------------------------------------+
  //| DDRB =  Data Direction Register port B                                                    |
  //|                                                                                           |
  //| FWD_RGT = Forward Right engine                                                            |
  //| REV_RGT = Reverse Right engine                                                            |
  //| IR_TXD1 = InfraRed Transmit data (connection1, connected to R16)                          |
  //| SPD_RGT = Speed of Right engine                                                           |
  //| SPD_LFT = Speed of Left engine                                                            |
  //| SLD_GRN = System LeD Green                                                                |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PB7   |   PB6   |   PB5   |   PB4   |   PB3   |   PB2   |   PB1   |   PB0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |   10    |    9    |   19    |   18    |   17    |    16   |    15   |   14    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name|  XTAL2  |  XTAL1  | FWD_RGT | REV_RGT | IR_TXD1 | SPD_RGT | SPD_LFT | SLD_GRN |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRB   ,                    FWD_RGT_O|REV_RGT_O|IR_TXD1_O|SPD_RGT_O|SPD_LFT_O|SLD_GRN_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTB  ,                    FWD_RGT_H|REV_RGT_L|IR_TXD1_L|SPD_RGT_L|SPD_LFT_L|SLD_GRN_H);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 x         x         .         .         .         .         .         .    = unused (connected to 8MHz Xtal)
  //                 .         .         n         n         .         .         .         .    = OL OL = both engine poles connected to VCC (break?)
  //                 .         .         n         n         .         .         .         .    = OL OH = set left engine direction to reverse
  //                 .         .         OH        OL        .         .         .         .    = OH OL = set left engine direction to forward
  //                 .         .         n         n         .         .         .         .    = OH OH = both engine poles are equally pulsed if speed is programmed
  //                 .         .         .         .         OL        .         .         .    = Infra Red transmit signal
  //                 .         .         .         .         .         OL        OL        .    = left-engine and right-engine speed output
  //                 .         .         .         .         .         .         .         OH   = system-led green-light control output, ON
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| DDRC =  Data Direction Register port C                                                    |
  //|                                                                                           |
  //| VPL_SNS = V+ Sense                                                                        |
  //| SWI_JNC = Switch Junction                                                                 |
  //| TRS_LFT = Tracksensor Left                                                                |
  //| TRS_RGT = Tracksensor Right                                                               |
  //| BOD_LFT = Break and Odometer Left                                                         |
  //| BOD_RGT = Break and Odometer Right                                                        |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PC7   |   PC6   |   PC5   |   PC4   |   PC3   |   PC2   |   PC1   |   PC0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |    -    |    1    |   28    |   27    |   26    |    25   |    24   |   23    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name|    -    |  RESET  |VPL_SNS  |SWI_JNC  |TRS_LFT  |TRS_RGT  |BOD_LFT  |BOD_RGT  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRC   ,                    VPL_SNS_I|SWI_JNC_I|TRS_LFT_I|TRS_RGT_I|BOD_LFT_O|BOD_RGT_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTC  ,                    VPL_SNS_N|SWI_JNC_N|TRS_LFT_N|TRS_RGT_N|BOD_LFT_L|BOD_RGT_L);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 .         .         IN        .         .         .         .         .    = V+ sensor measurement as input
  //                 .         .         .         IN        .         .         .         .    = key-press detector as input
  //                 .         .         .         .         IN        IN        .         .    = left/right track sensors as input
  //                 .         .         .         .         .         .         OL        OL   = left/right break/odo-meter sensors as input
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| DDRD =  Data Direction Register port D                                                    |
  //|                                                                                           |
  //| BOD_COM = Breaks and Odoleds Common connection                                            |
  //| TRK_LED = Track Led                                                                       |
  //| FWD_LFT = Forward Left engine                                                             |
  //| REV_LFT = Reverse Left engine                                                             |
  //| SWI_IAC = Switches Interrupt And Control                                                  |
  //| SLD_RED = System Led Red                                                                  |
  //| IR_TXD2 = InfraRed Transmit data (connection2, connected to D10)                          |
  //| IR_RXD  = InfraRed Receive data                                                           |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PD7   |   PD6   |   PD5   |   PD4   |   PD3   |   PD2   |   PD1   |   PD0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |   13    |   12    |   11    |    6    |    5    |     4   |     3   |    2    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name| ODO_LDS |FRT_LED  |FWD_LFT  |REV_LFT  |SWI_INT  |SLD_RED  |IR_RXD   |IR_TXD2  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRD   ,BOD_COM_O|TRK_LED_O|FWD_LFT_O|REV_LFT_O|SWI_IAC_I|SLD_RED_O|IR_TXD2_I|IR_RXD_I ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTD  ,BOD_COM_L|TRK_LED_L|FWD_LFT_H|REV_LFT_L|SWI_IAC_L|SLD_RED_L|IR_TXD2_L|IR_RXD_L ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 OL        .         .         .         .         .         .         .    = both odometrie leds (#001)
  //                 .         OL        .         .         .         .         .         .    = front (tracking) led (#002)
  //                 .         .         n         n         .         .         .         .    =  OL OL = both engine poles connected to VCC (break?)
  //                 .         .         n         n         .         .         .         .    = OL OH = set left engine direction to reverse
  //                 .         .         OH        OL        .         .         .         .    = OH OL = set left engine direction to forward
  //                 .         .         n         n         .         .         .         .    = OH OH = both engine poles are equally pulsed if speed is programmed
  //                 .         .         .         .         IL        .         .         .    = 'switches' is input
  //                 .         .         .         .         .         OL        .         .    = system-led red-light control output
  //                 .         .         .         .         .         .         IL        IL   = Infra-Red signals both as input
  //+-------------------------------------------------------------------------------------------+

}

//================================================================================
//	INIT AD CONVERTER SINGLE SHOT SWITCH DETECTION
//================================================================================
void vInitAdcSingleShotSwitchDetection(void){

  //+-------------------------------------------------------------------------------------------+
  //| ADCSRA = ADC Control and Status Register A                                                |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( ADCSRA , ADEN_H  | ADSC_L  | ADFR_L  | ADIF_L  | ADIE_L  | ADPS2_H | ADPS1_H | ADPS0_L );
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 1         .         .         .         .         .         .         .    = AD-Converter enable
  //                 .         0         .         .         .         .         .         .    = no start AD conversion
  //                 .         .         0         .         .         .         .         .    = no free running mode
  //                 .         .         .         0         .         .         .         .    = interrupt (or: conversion finished)
  //                 .         .         .         .         0         .         .         .    = no AD interrupt enable
  //                 .         .         .         .         .         n         n         n    = ADC prescaler
  //                 .         .         .         .         .         n         n         n    = 000 =   2, 001=2, 002=4, 003=8, 004=16, 005=32
  //                 .         .         .         .         .         1         1         0    = 110 =  64
  //                 .         .         .         .         .         n         n         n    = 111 = 128
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| ADMUX = ADC Multiplexer Selection Register                                                |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( ADMUX  , REFS1_L | REFS0_H | ADLAR_L | NONE4_L | MUX3_L  | MUX2_H  | MUX1_L  | MUX0_L  );
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 n         n         .         .         .         .         .         .    = 00 = reference voltage is external pin AREF
  //                 0         1         .         .         .         .         .         .    = 01 = reference voltage is external pin AVCC (with capacitor on AREF)
  //                 n         n         .         .         .         .         .         .    = 10 = not used
  //                 n         n         .         .         .         .         .         .    = 11 = internal 2.45V reference (with capacitor on AREF)
  //                 .         .         0         .         .         .         .         .    = 0 = left justified, 1 = right justified (10-bit AD value shift to left/right side of 16bit result)
  //                 .         .         .         0         .         .         .         .    = not connected
  //                 .         .         .         .         1         1         1         0    = 1.23V bandgap as ADC input voltage
  //                 .         .         .         .         1         1         1         1    = GND as ADC input voltage
  //                 .         .         .         .         0         n         n         n    = 0000-0111 = select any uproc inputs as ADC input voltage
  //                 .         .         .         .         0         1         0         0    = 0100 = select ADC4/Pin27 = Asuro switches
  //+-------------------------------------------------------------------------------------------+

}
//--------------------------------------------------------------------------------
//	HVW POLL SWITCH
//--------------------------------------------------------------------------------
unsigned char ucHvwPollSwitch (void){

	//var
	unsigned int uiAdcVal;

	//start single AD conversion
	SFRX(ADCSRA,ADSC_H);

	//wait until AD-conversion is finished (ADSC-bit low)
	while(CHK_BYTE_BIT_SET(ADCSRA,ADSC_H));

	//add low-value-byte and high-value-byte from AD-converter into single 16-bit integer
	uiAdcVal = ADCL + (ADCH << 8);

	//return: 0-1023 converted to 0-63
	return ( (unsigned char) ((( 1024.0/(float)uiAdcVal - 1.0)) * 63.0 + 0.5));

}
//================================================================================
//	MAIN
//================================================================================
int main(void){

	//var
	int iLgtBlkCnt;
	int i;
	unsigned char ucSwiPrs;

	//stop 36KHz timer2 (left active by boot sector!) but does not harm anything
	SFRX(TCCR2,CS22_L|CS21_L|CS20_L);

	//init all ports
	vInitAllPorts();
	
	//init ad-converter for oneshot operation mode for Asuro switch detection
	vInitAdcSingleShotSwitchDetection();

	//---connect-high-end-of-switch-resistor-network-to-VCC---
	//define interrupt-pin/switch-network-control-pin INT1 as output
	SFRX(DDRD ,SWI_IAC_O);
	//set interrupt-pin/switch-network-control-pin as high
	SFRX(PORTD,SWI_IAC_H);

	//switch front led off
	SET_FRONT_LED_OFF;
	//switch red system led off
	SET_RED_SYSTM_LED_OFF;
	//switch green system led off
	SET_GRN_SYSTM_LED_OFF;

	//endless loop
	while(1){

		//clear light blink count
		iLgtBlkCnt=0;

		//get Asuro-front-switch switch-press data
		ucSwiPrs=ucHvwPollSwitch();

		//analyse pressed switch
		switch(ucSwiPrs){
			//switch1 pressed, prepair led to blink 1 time
			case SWITCH_K1: iLgtBlkCnt=1; break;
			//switch2 pressed, prepair led to blink 2 times
			case SWITCH_K2: iLgtBlkCnt=2; break;
			//switch3 pressed, prepair led to blink 3 times
			case SWITCH_K3: iLgtBlkCnt=3; break;
			//switch4 pressed, prepair led to blink 4 times
			case SWITCH_K4: iLgtBlkCnt=4; break;
			//switch5 pressed, prepair led to blink 5 times
			case SWITCH_K5: iLgtBlkCnt=5; break;
			//switch6 pressed, prepair led to blink 6 times
			case SWITCH_K6: iLgtBlkCnt=6; break;
		}//end switch
		
		//---blink-red-system-led-according-blink-counts---

		//for all blinking counts do
		for(i=0;i<iLgtBlkCnt;i++){
			//switch red system led on
			SET_RED_SYSTM_LED_ON;
			//delay
			vDelayMilliSeconds(200);
			//switch red system led off
			SET_RED_SYSTM_LED_OFF;
			//delay
			vDelayMilliSeconds(200);
		}
		
		//---blink-green-system-led-once-(if-no-keypress-detected)---

		//if no Asuro front-switch press is detected
		if(iLgtBlkCnt==0){
			//switch green system led on
			SET_GRN_SYSTM_LED_ON;
			//delay
			vDelayMilliSeconds(200);
			//switch green system led on
			SET_GRN_SYSTM_LED_OFF;
			//delay
			vDelayMilliSeconds(200);
		}

		//delay
		vDelayMilliSeconds(600);

	}//while

	//exit function
	return 0;
	
}